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Plane: fixed MANUAL_RCMASK

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ensure it only applies in MANUAL, and fixed input scaling in px4io
This commit is contained in:
Andrew Tridgell 2017-09-19 16:38:14 +10:00
parent c090818d5e
commit 3d16ca7144
2 changed files with 9 additions and 1 deletions
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8
ArduPlane/px4_mixer.cpp
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@ -269,6 +269,7 @@ bool Plane::setup_failsafe_mixing(void)
enum AP_HAL::Util::safety_state old_state = hal.util->safety_switch_state();
struct pwm_output_values pwm_values = {.values = {0}, .channel_count = 8};
unsigned mixer_status = 0;
uint16_t manual_mask = uint16_t(g2.manual_rc_mask.get());
buf = (char *)malloc(buf_size);
if (buf == nullptr) {
@ -365,6 +366,13 @@ bool Plane::setup_failsafe_mixing(void)
config.rc_max = 1813; // round 1812.5 up to grant > 1750
config.rc_min = 1000;
config.rc_trim = 1500;
} else if (manual_mask & (1U<<i)) {
// use fixed limits for manual_mask channels
config.rc_assignment = i;
config.rc_reverse = i==1?true:false;
config.rc_max = PX4_LIM_RC_MAX;
config.rc_min = PX4_LIM_RC_MIN;
config.rc_trim = 1500;
} else {
config.rc_assignment = i;
}

2
ArduPlane/servos.cpp
View File

@ -663,7 +663,7 @@ void Plane::servos_output(void)
servo_output_mixers();
// support MANUAL_RCMASK
if (g2.manual_rc_mask.get() != 0) {
if (g2.manual_rc_mask.get() != 0 && control_mode == MANUAL) {
SRV_Channels::copy_radio_in_out_mask(uint16_t(g2.manual_rc_mask.get()));
}